EP2507589B1 - Method for simplifying a description of a route - Google Patents
Method for simplifying a description of a route Download PDFInfo
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- EP2507589B1 EP2507589B1 EP10792869.9A EP10792869A EP2507589B1 EP 2507589 B1 EP2507589 B1 EP 2507589B1 EP 10792869 A EP10792869 A EP 10792869A EP 2507589 B1 EP2507589 B1 EP 2507589B1
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- route
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- 238000000034 method Methods 0.000 title claims description 61
- 238000004590 computer program Methods 0.000 claims description 4
- 238000013459 approach Methods 0.000 description 8
- 230000008901 benefit Effects 0.000 description 6
- 230000008030 elimination Effects 0.000 description 5
- 238000003379 elimination reaction Methods 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 3
- 238000013507 mapping Methods 0.000 description 2
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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- 239000004065 semiconductor Substances 0.000 description 1
- 238000012549 training Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3446—Details of route searching algorithms, e.g. Dijkstra, A*, arc-flags, using precalculated routes
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3667—Display of a road map
- G01C21/367—Details, e.g. road map scale, orientation, zooming, illumination, level of detail, scrolling of road map or positioning of current position marker
Definitions
- the present invention relates to a method according to claim 1 or 9, a navigation device according to claim 10, and a computer program product according to claim 11.
- Conventional navigation systems may require that the digital card be replaced for renewal.
- existing, frequently used and stored in the navigation device routes can no longer be used, since possibly the existing route points that designate the route in the map can not be mapped in the new map on the corresponding sections of the route.
- this may be caused by the fact that the new road map comes from another map maker using a different geographic grid than the map maker from which the previously used digital map was supplied.
- the stored reference or route points in the new map would then be mapped to positions that are not on actual road sections.
- a slight shift of the roads can take place, for example, when a road construction at a certain position, a road widening or a roundabout was rebuilt, which is now considered in the new digital map to be used.
- no approach is known here as to how such a transmission of the stored travel route could be carried out taking into account the new digital map.
- the US 2009/0005926 A1 shows a system and method for determining a route point setting for assisting in coding or decoding a path.
- the present invention provides a method, furthermore a navigation device which uses this method and finally a corresponding computer program product according to the independent patent claims.
- Advantageous embodiments emerge from the respective subclaims and the following description.
- the present invention provides a method for simplifying a description of a route according to claim 1.
- the present invention further provides a navigation device, which is designed to carry out or implement the steps of the method according to the invention.
- a navigation device can be understood to be an electrical device or a computer unit that processes the sensor signal or signals.
- the navigation device may have an interface, which may be designed in hardware and / or software.
- the interfaces can be part of a so-called system ASIC, for example, which contains various functions of the navigation device.
- system ASIC system ASIC
- the interfaces are their own integrated circuits or at least partially consist of discrete components.
- the interfaces may be software modules that are present for example on a microcontroller in addition to other software modules.
- Also of advantage is a computer program product with program code, which is stored on a machine-readable carrier such as a semiconductor memory, a hard disk memory or an optical memory and is used to carry out the method according to one of the embodiments described above, when the program is executed on a navigation device.
- a machine-readable carrier such as a semiconductor memory, a hard disk memory or an optical memory
- the present invention is based on the recognition that simple differentiation of a sub-graph of a road network is possible if a route to be traveled is described by a few route points.
- a reduction of the route points should initially take place when the route is coded so that a list with as few route points as possible describes the route to be selected or selected.
- certain algorithms are used to make a change in the list of route points, for example, by deleting those route points that represent sub-sections of the route on the road network that have a very short path length.
- route point can be deleted from the list, which results in a more inaccurate description of the route, but still sufficiently accurate reconstructed, when the remaining route points are transferred to a digital map and For example, the shortest connection between these route points is determined as a subsection of the route. In this way, a desired travel route, which was determined on the basis of a first digital map, can be transmitted to a second digital map. In this case, the decoding of the route by means of the list of route points is carried out, for example, such that the route points are transferred from the list to the second digital map.
- the desired route can then be decoded using the second digital map such that those roads or paths from the second digital map are selected as subsections of the desired route which form the shortest connection between the route points or the corresponding shifted route points.
- the present invention offers the advantage that, firstly, a hitherto known and often driven route can be stored very simply and space-saving by the mentioned short list of route points. Second, the list of route points can be used very efficiently to facilitate transmission of a desired or to-be-driven route into another digital map. It is advantageous in both the first and the second aspect mentioned above that only a small amount of numerical or circuit complexity is required to implement or implement the present invention.
- route points representing geographic coordinates can be read.
- Such an embodiment of the present invention offers the advantage that the specification of geographical coordinates enables a very precise determination of the route points. Even with a distinction of lattices of a digital first map from which the route points were generated, compared to a digital second map in which the list of route points to be used, then a corresponding shift and unique assignment of Route points can also be done in the new digital second map.
- an algorithm in the step of changing, may be used in the application of which those route points are removed from the list representing a sub-segment of the travel route that maps a path segment shorter than a predetermined path length.
- an algorithm is used in the step of changing, in the application of which every nth route point is removed from the list, the variable n representing a natural number.
- Such an embodiment of the present invention offers the advantage that in this way a number of route points can be removed from the list of route points in a simple manner, without causing a significant deterioration of a reconstruction possibility of the desired route.
- the method may further comprise a step of receiving further route points, wherein the further route points represented subsegments of an alternative of a section of the route and wherein in the step of changing at least one of the further route points is included in the list of route points. It is particularly advantageous if, in the step of changing, additional route points are included in the list of route points for the travel route, the additional route points representing subsegments of an alternative of a section of the travel route.
- Such an embodiment of the present invention offers the advantage that different travel route alternatives can be stored in a simple manner without having to generate a separate list of route points for each of these alternatives.
- the method can also be carried out repeatedly during the travel of a vehicle, after a previous execution cycle of the method in the step of reading in a subsequent execution cycle of the method reading in at least one new route point during the drive of the vehicle, which is a current position of the vehicle Represents vehicle, wherein the route of the vehicle is updated by the repeated execution of the method.
- a vehicle which is a current position of the vehicle Represents vehicle, wherein the route of the vehicle is updated by the repeated execution of the method.
- the method may also comprise a step of detecting the current position of the vehicle in another embodiment of the invention, the method further comprising a step of matching the detected position current position of the vehicle with a represented by a route point portion of the route, wherein in the step of changing the list, a route point that represents the currently traveled portion of the route is added to the list, if a route point representing the currently traveled portion of the route , not saved in the list.
- an exemplary embodiment comprises a "and / or" link between a first feature / step and a second feature / step
- this can be read such that the embodiment according to one embodiment includes both the first feature / the first feature and the second feature / the second step and according to another embodiment either only the first feature / step or only the second feature / step.
- An important object of the invention is the development of a method for referencing a subgraph (in particular for a desired route) of the road graph, which arises from the natural route selection of the driver and is therefore generally contiguous.
- the problem of dividing the route or route into sections to be referenced should be solved, so that the subgraph can be decoded gradually within a reasonable time and thus the method presented here is suitable for application.
- the approach proposed below thus deals with the referencing of a subgraph of the road graph, which, for example, gradually arises from the driver's driving routes.
- the division into sections to be referenced takes place parallel to the traveled route.
- An important aspect of the approach proposed here is the determination of fixed positions in the road network, so-called routing points or route points, for which a predecessor-successor relationship is maintained. These route points can then be stored in a list, so that the predecessor-successor relationship is stored in the list. Successive routing points limit the sections to be referenced.
- the choice of positions and distances between two consecutive routing points is subject to certain conditions that allow for identification in the second card. In this identification is then with a Pair of routing points started, and the entire subgraph was then decoded gradually with an appropriate algorithm such as the breadth first search.
- routing point rules from the AGORA-C standard can be used here.
- Fig. 1 a representation of a digital map is reproduced, in which a route 100 is marked from a starting place A to a destination B by several route points.
- a route 100 is marked from a starting place A to a destination B by several route points.
- the driver starts at position A and drives in direction B.
- On each link 102 ie each piece of road represented by two limiting points which the driver travels, a routing point 104 is set, represented by the black checks.
- the positioning on the link 102 is done either by special quality criteria, as used in the MEI-LIN method, or by rigid rules, as always in the middle.
- redundant routing points 104 are eliminated as follows.
- routing points 102 on "short" links are removed, such as the crossed-out route points in FIG Fig. 2 as long as then the above conditions for successive routing points are met.
- the attribute "short” can be both of the length in meters (for example, for actual sections of the route, which are shorter than 100 m for non-local roads or shorter than 50 m for inner city roads), as well as the street class or belonging to one be dependent on complex intersection.
- Fig. 4 shows an example of leftover and thus necessary routing points (indicated by numbers 2 to 5) between the starting point A and the destination B.
- routing points 108 need only be set on the "new" links (ie, sections of the route). This is done according to the presentation Fig. 5 in the same way, only the corresponding predecessor-successor relationships of the new routing points 108 to already set routing points 104 should be updated in such a case.
- there are two new routing points (labeled 6 and 7) as exemplified in FIG Fig. 6 is shown. All in all, a scenario emerges as shown in Figure 7 in the illustration. The remaining route points are then entered into a list and stored, and in this list, a relationship between the individual route points, their predecessors and their successors is noted.
- this variant can also be referred to as "as-you-go". starts For example, the driver returns to position A as in the Fig. 8 is shown (now where the target point B does not yet need to be known and therefore in the Fig. 8 also not yet registered), so first a routing point 104 is set to each link, which is not "short".
- a link 102 or a subsection of the (desired) travel route which, for example, fulfills a criterion mentioned in the above description, can be considered to be "short”.
- a previously set routing point 110 can be eliminated, as described with reference to FIG Fig. 9 shown.
- Fig. 10 shows, for example, the first necessary routing point 1, since, on the other hand, two different paths would exist between A and the routing point 112 following routing point 1, which would be of a similar length and would thus violate a possible decoding rule.
- This approach can be continued so far, so that a route between the starting point A and the destination point B can be constructed, the resulting necessary routing points as shown Fig. 11 having.
- the procedure for previously unknown sections or subsections of the route thus works the same as the procedure for a known complete route and the predecessor-successor relationships should be maintained as in the first variant described above.
- a list of route points that represents a desired route and that was created, for example, according to the above procedure, then this route can be transferred to a second digital road map (ie decoded), without requiring a major effort.
- the decoding relies on the identification of the routing points so that the referenced sections between two routing points can then be identified bit by bit. It is first started at a predecessor successor pair of route points from the list of route points, for example, near the current position, which was determined for a vehicle from geographical coordinates. For predecessors and successors exist, depending on the attributes or methods that describe them, several possible positions in the second card, as in the Fig. 12 is shown.
- the points 6 and 7 in the example each have two alternatives, which in the Fig.
- MEI-LIN could be used to reference the routing points and eliminate alternatives early.
- a start pair is identified, the other points are progressively processed according to a certain algorithm, such as breadth first search, in order to be able to decode the entire subgraph in a reasonable time.
- the routing algorithm should also consider weights relative to the road class, so that more important roads are preferred.
- the present invention provides a method 200 for facilitating a description of a route represented by a list of route points, the method including a step of reading 210 a route represented by a list of route points comprising a plurality of Route points is represented, each route point represents a different sub-segment of a route from a digital road map. Further, the method 200 includes a step of modifying 220 the list of route points according to a predetermined algorithm to obtain a modified list of route points representing the travel route. Finally, the method comprises a step of storing the modified list of route points in order to simplify the description of the route.
- the present invention provides a method 300 for decoding a route of a vehicle from a list of route points, the method comprising a step of reading 310 the list of route points, each of the route points comprising a different subsection of a route to be decoded from a represents a digital road map. Furthermore, the method comprises a step of receiving 320 a digital road map and a step of selecting 330 from at least two of the route points and mapping the selected route points to different first sections in the digital road map, wherein the different first sections are possible subsections of one to be selected by the vehicle Represent travel route.
- the method 300 includes a step of determining 340 the entire first path length, wherein the total first path length is determined based on the locations of the individual first sections of the digital road map. Also, in a further step of the method 300, mapping 350 of the selected route points to different second sections of the digital road map takes place, wherein the different second sections represent possible subsections of the travel route to be selected by the vehicle. In a further step 360 of the method 300, the entire second path length is determined, the entire second path length being determined on the basis of the length of the individual second sections from the digital road map. Finally, in step 370 of the method 300, the route points are assigned to the first sections when the determined first path length is shorter than the determined second path length.
- the present invention can also be implemented in a navigation device 410 of a vehicle 400, as described, for example, in FIG Fig. 16 is shown.
- the navigation device 410 may receive data from a satellite navigation signal receiver 420 and associate it with a digital map, which may be loaded into the navigation device 410 from a digital map memory 430, for example.
- the list of route points can be stored, so that when updating the digital road map in the memory 430 a desired route can be realized using the stored in the navigation device 410 list of route points.
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Description
Die vorliegende Erfindung bezieht sich auf ein Verfahren gemäß Anspruch 1 oder 9, ein Navigationsgerät gemäß Anspruch 10, sowie ein Computerprogrammprodukt gemäß Anspruch 11.The present invention relates to a method according to claim 1 or 9, a navigation device according to
Bei herkömmlichen Navigationssystemen kann es erforderlich sein, dass die digitale Karte wegen einer Erneuerung ersetzt werden muss. In diesem Fall können beispielsweise bestehende, häufig befahrene und im Navigationsgerät abgespeicherte Routen nicht mehr weiterverwendet werden, da möglicherweise die bestehenden Routenpunkte, die die Fahrtroute in der Karte bezeichnen, nicht mehr in der neuen Karte auf die entsprechenden Wegabschnitte abgebildet werden können. Beispielsweise kann dies dadurch verursacht sein, dass die neue Straßenkarte von einem anderen Kartenhersteller stammt, der ein anderes geographisches Gitternetz verwendet, als der Kartenhersteller, von dem die zuvor verwendeten digitalen Karte geliefert wurde. In einem solchen Fall würden dann die abgespeicherten Referenz- oder Routenpunkte in der neuen Karte auf Positionen abgebildet, die nicht auf tatsächlichen Straßenabschnitten liegen. Um nun dennoch diese gespeicherten Fahrtrouten weiterverwenden zu können, ist deshalb eine Anpassung der Fahrtroute an die neu zu verwendende Straßenkarte erforderlich. Auch kann durch das Karten-Update eine leichte Verschiebung der Straßen erfolgen, beispielsweise wenn durch eine Baumaßnahme an einer bestimmten Position eine Straßenverbreiterung oder eine Kreisverkehrsführung neu gebaut wurde, die nun in der neu zu verwendenden digitalen Karte berücksichtigt ist. Im Stand der Technik ist hier bisher kein Ansatz bekannt, wie eine solche Übertragung der gespeicherten Fahrtroute unter Berücksichtigung der neuen digitalen Karte durchgeführt werden könnte.Conventional navigation systems may require that the digital card be replaced for renewal. In this case, for example, existing, frequently used and stored in the navigation device routes can no longer be used, since possibly the existing route points that designate the route in the map can not be mapped in the new map on the corresponding sections of the route. For example, this may be caused by the fact that the new road map comes from another map maker using a different geographic grid than the map maker from which the previously used digital map was supplied. In such a case, the stored reference or route points in the new map would then be mapped to positions that are not on actual road sections. However, in order to be able to continue to use these stored routes, it is therefore necessary to adapt the route to the new road map to be used. Also, by the map update, a slight shift of the roads can take place, for example, when a road construction at a certain position, a road widening or a roundabout was rebuilt, which is now considered in the new digital map to be used. In the prior art, no approach is known here as to how such a transmission of the stored travel route could be carried out taking into account the new digital map.
Algorithmus verwendet wird, bei dessen Anwendung jeder n-te Routenpunkt aus der Liste entfernt wird, wobei die Variable n eine natürliche Zahl darstellt.; und
- Abspeichern der veränderten Liste von Routenpunkten, um eine Vereinfachung der Beschreibung der Fahrtroute zu erreichen.
- Storing the modified list of route points in order to simplify the description of the route.
Ferner wird ein Verfahren zur Dekodierung einer Fahrtroute eines Fahrzeugs aus einer Liste von Routenpunkten beschrieben, wobei das Verfahren die folgenden Schritte aufweist:
- Im Stand der Technik ist lediglich ein sogenanntes Location Referencing bekannt, das die Bestimmung eines Ortes in einer digitalen Karte des Straßennetzwerkes bezeichnet (die sogenannte Kodierung) und die (maschinelle) Identifizierung desselben Ortes in einer zweiten digitalen Karte (die Dekodierung). Orte, sogenannte Locations, können dabei einzelne Punkte,
- lineare Streckenabschnitte, Teilgraphen oder abstrakte Gebiete sein. Bisherige Location Referenzierungsverfahren wurden mit einem Fokus auf lineare Streckenabschnitte entwickelt. Ansätze zur Übertragung von Netzen bzw.
- Teilgraphen des Straßengraphen existieren, wobei das Netz in lineare Locations zerlegt wird. Jedoch gibt es bisher keine genaue Beschreibung, wie diese Zerlegung funktioniert. Zudem sind diese Ansätze auch noch nicht getestet worden.
- In the prior art, only a so-called Location Referencing is known, which designates the determination of a location in a digital map of the road network (the so-called coding) and the (machine) identification of the same place in a second digital map (the decoding). Places, so-called locations, can use individual points,
- be linear sections, subgraphs or abstract areas. Previous Location Referencing procedures have been developed with a focus on linear sections. Approaches to the transmission of networks or
- Subgraphs of the street graph exist, whereby the network is decomposed into linear locations. However, there is no exact description of how this decomposition works. Moreover, these approaches have not been tested.
Die
Vor diesem Hintergrund wird mit der vorliegenden Erfindung ein Verfahren, weiterhin ein Navigationsgerät, das dieses Verfahren verwendet sowie schließlich ein entsprechendes Computerprogrammprodukt gemäß den unabhängigen Patentansprüchen vorgestellt. Vorteilhafte Ausgestaltungen ergeben sich aus den jeweiligen Unteransprüchen und der nachfolgenden Beschreibung.Against this background, the present invention provides a method, furthermore a navigation device which uses this method and finally a corresponding computer program product according to the independent patent claims. Advantageous embodiments emerge from the respective subclaims and the following description.
Die vorliegende Erfindung schafft ein Verfahren zur Vereinfachung einer Beschreibung einer Fahrtroute gemäß Anspruch 1.The present invention provides a method for simplifying a description of a route according to claim 1.
Die vorliegende Erfindung schafft ferner ein Navigationsgerät, das ausgebildet ist, um die Schritte des erfindungsgemäßen Verfahrens durchzuführen bzw. umzusetzen.The present invention further provides a navigation device, which is designed to carry out or implement the steps of the method according to the invention.
Auch durch diese Ausführungsvariante der Erfindung in Form eines Navigationsgeräts kann die der Erfindung zugrunde liegende Aufgabe schnell und effizient gelöst werden.Also by this embodiment of the invention in the form of a navigation device, the object underlying the invention can be solved quickly and efficiently.
Unter einem Navigationsgerät kann vorliegend ein elektrisches Gerät oder eine Rechnereinheit verstanden werden, das oder die Sensorsignale verarbeitet. Das Navigationsgerät kann eine Schnittstelle aufweisen, die hard- und/oder softwaremäßig ausgebildet sein kann. Bei einer hardwaremäßigen Ausbildung können die Schnittstellen beispielsweise Teil eines sogenannten System-ASICs sein, der verschiedenste Funktionen des Navigationsgeräts beinhaltet. Es ist jedoch auch möglich, dass die Schnittstellen eigene, integrierte Schaltkreise sind oder zumindest teilweise aus diskreten Bauelementen bestehen. Bei einer softwaremäßigen Ausbildung können die Schnittstellen Softwaremodule sein, die beispielsweise auf einem Mikrocontroller neben anderen Softwaremodulen vorhanden sind.In the present case, a navigation device can be understood to be an electrical device or a computer unit that processes the sensor signal or signals. The navigation device may have an interface, which may be designed in hardware and / or software. In the case of a hardware-based configuration, the interfaces can be part of a so-called system ASIC, for example, which contains various functions of the navigation device. However, it is also possible that the interfaces are their own integrated circuits or at least partially consist of discrete components. In a software-based Training, the interfaces may be software modules that are present for example on a microcontroller in addition to other software modules.
Von Vorteil ist auch ein Computerprogrammprodukt mit Programmcode, der auf einem maschinenlesbaren Träger wie einem Halbleiterspeicher, einem Festplattenspeicher oder einem optischen Speicher gespeichert ist und zur Durchführung des Verfahrens nach einem der vorstehend beschriebenen Ausführungsformen verwendet wird, wenn das Programm auf einem Navigationsgerät ausgeführt wird.Also of advantage is a computer program product with program code, which is stored on a machine-readable carrier such as a semiconductor memory, a hard disk memory or an optical memory and is used to carry out the method according to one of the embodiments described above, when the program is executed on a navigation device.
Die vorliegende Erfindung basiert auf der Erkenntnis, dass eine einfache Differenzierung eines Teilgrafen eines Straßennetzwerks dann möglich ist, wenn eine zu fahrende Fahrtroute durch wenige Routenpunkte beschrieben wird. Um eine solche Darstellung der Fahrtroute durch möglichst wenige Routenpunkte zu ermöglichen, soll zunächst bei einer Codierung der Fahrtroute eine Reduktion der Routenpunkte derart erfolgen, so dass eine Liste mit möglichst wenigen Routenpunkten die zu wählende oder die gewählte Fahrtroute möglichst genau beschreibt. Hierzu werden bestimmte Algorithmen verwendet, um eine Veränderung der Liste der Routenpunkte vorzunehmen, in dem beispielsweise diejenigen Routenpunkte gestrichen werden, die Teilabschnitte der Fahrtroute auf dem Straßennetzwerk repräsentieren, die eine sehr geringe Weglänge aufweisen. Auch können zur Vereinfachung der Liste von Routenpunkten jeder zweite, dritte, etc. Routenpunkt aus der Liste gestrichen werden, wodurch sich zwar eine ungenauere Beschreibung der Fahrtroute ergibt, die jedoch noch ausreichend genau rekonstruierbar ist, wenn die verbleibenden Routenpunkte in eine digitale Karte übertragen und beispielsweise die kürzeste Verbindung zwischen diesen Routenpunkten als ein Teilabschnitt der Fahrtroute ermittelt wird. Auf diese Weise kann auch eine gewünschte Fahrtroute, die auf der Basis einer ersten digitalen Karte ermittelt wurde, in eine zweite digitale Karte übertragen werden. In diesem Fall wird die Dekodierung der Fahrtroute an Hand der Liste der Routenpunkte beispielsweise derart ausgeführt, dass die Routenpunkte aus der Liste in die zweite digitale Karte übertragen werden. Wird dabei festgestellt, dass geographische Koordinaten, die beispielsweise die entsprechenden Routenpunkte bilden, in der zweiten digitalen Karte nicht auf einer Straße oder einem befahrbaren Weg liegen, kann eine Verschiebung dieser Routenpunkte auf die nächstgelegene Straße oder den nächstgelegenen Weg erfolgen. Die gewünschte Fahrtroute kann dann unter Verwendung der zweiten digitalen Karte derart dekodiert werden, dass diejenigen Straßen oder Wege aus der zweiten digitalen Karte als Teilabschnitte der gewünschten Fahrtroute ausgewählt werden, die die kürzeste Verbindung zwischen den Routenpunkten oder den entsprechend verschobenen Routenpunkten bilden.The present invention is based on the recognition that simple differentiation of a sub-graph of a road network is possible if a route to be traveled is described by a few route points. In order to enable such a representation of the route through as few route points as possible, a reduction of the route points should initially take place when the route is coded so that a list with as few route points as possible describes the route to be selected or selected. For this purpose, certain algorithms are used to make a change in the list of route points, for example, by deleting those route points that represent sub-sections of the route on the road network that have a very short path length. Also, to simplify the list of route points, every second, third, etc. route point can be deleted from the list, which results in a more inaccurate description of the route, but still sufficiently accurate reconstructed, when the remaining route points are transferred to a digital map and For example, the shortest connection between these route points is determined as a subsection of the route. In this way, a desired travel route, which was determined on the basis of a first digital map, can be transmitted to a second digital map. In this case, the decoding of the route by means of the list of route points is carried out, for example, such that the route points are transferred from the list to the second digital map. If it is found that geographical coordinates that form, for example, the corresponding route points in the second digital map are not on a road or on a drivable path, a shift of these route points on the nearest street or the nearest way can be done. The desired route can then be decoded using the second digital map such that those roads or paths from the second digital map are selected as subsections of the desired route which form the shortest connection between the route points or the corresponding shifted route points.
Die vorliegende Erfindung bietet dabei den Vorteil, dass erstens eine bisher bekannte und oftmals gefahrene Fahrtroute sehr einfach und Speicherplatzsparend durch die genannte kurze Liste von Routenpunkten abgespeichert werden kann. Zweitens kann die Liste der Routenpunkte sehr effizient verwendet werden, um eine Übertragung einer gewünschten oder einer zu fahrenden Fahrtroute in eine andere digitale Karte zu vereinfachen. Dabei ist sowohl im ersten als auch und zweiten vorstehend genannten Aspekt von Vorteil, dass nur ein geringer numerischer oder schaltungstechnischer Aufwand zur Umsetzung oder Realisierung der vorliegenden Erfindung erforderlich ist.The present invention offers the advantage that, firstly, a hitherto known and often driven route can be stored very simply and space-saving by the mentioned short list of route points. Second, the list of route points can be used very efficiently to facilitate transmission of a desired or to-be-driven route into another digital map. It is advantageous in both the first and the second aspect mentioned above that only a small amount of numerical or circuit complexity is required to implement or implement the present invention.
Gemäß einer Ausführungsform der Erfindung können im Schritt des Einlesens der Fahrtroute Routenpunkte eingelesen werden, die geographische Koordinaten repräsentieren. Eine derartige Ausführungsform der vorliegenden Erfindung bietet den Vorteil, dass die Angabe von geographischen Koordinaten eine sehr präzise Bestimmung der Routenpunkte ermöglicht. Auch bei einer Unterscheidung von Gitternetzen von einer digitalen ersten Karte, aus der die Routenpunkte generiert wurden, gegenüber einer digitalen zweiten Karte, in der die Liste der Routenpunkte verwendet werden soll, kann dann über eine sehr einfache entsprechende Transformationen eine entsprechende Verschiebung und eindeutige Zuordnung der Routenpunkte auch in der neuen digitalen zweiten Karte durchgeführt werden.According to one embodiment of the invention, in the step of reading the route, route points representing geographic coordinates can be read. Such an embodiment of the present invention offers the advantage that the specification of geographical coordinates enables a very precise determination of the route points. Even with a distinction of lattices of a digital first map from which the route points were generated, compared to a digital second map in which the list of route points to be used, then a corresponding shift and unique assignment of Route points can also be done in the new digital second map.
Auch kann in einer weiteren Ausführungsform der Erfindung im Schritt des Veränderns ein Algorithmus verwendet werden, bei dessen Anwendung diejenigen Routenpunkte aus der Liste entfernet werden, die ein Teilsegment der Fahrtroute repräsentieren, das einen Wegabschnitt abbildet, der kürzer als eine vorbestimmte Weglänge ist. Eine derartige Ausführungsform der vorliegenden Erfindung bietet eine sehr einfache Möglichkeit, eine Anzahl von Routenpunkten in der Liste der Routenpunkte zu reduzieren, ohne dass ein wesentlicher Informationsverlust zu befürchten ist. Beispielsweise können alle Routenpunkte aus der Liste entfernt werden, die ein Teilsegment der Fahrtroute repräsentieren, das einen Weg oder eine Straße in der digitalen Straßenkarte abbildet, die kürzer als 100 m ist. Erfindungsgemäss wird im Schritt des Veränderns ein Algorithmus verwendet, bei dessen Anwendung jeder n-te Routenpunkt aus der Liste entfernt wird, wobei die Variable n eine natürliche Zahl darstellt. Eine derartige Ausführungsform der vorliegenden Erfindung bietet den Vorteil, dass hierdurch auf einfache Weise eine Anzahl von Routenpunkten aus der Liste der Routenpunkte entfernt werden kann, ohne eine signifikante Verschlechterung einer Rekonstruktionsmöglichkeit der gewünschten Fahrtroute zu bewirken.Also, in a further embodiment of the invention, in the step of changing, an algorithm may be used in the application of which those route points are removed from the list representing a sub-segment of the travel route that maps a path segment shorter than a predetermined path length. Such an embodiment of the present invention provides a very simple way of reducing a number of route points in the list of route points without fear of significant information loss. For example, all route points can be removed from the list representing a sub-segment of the route that maps a path or road in the digital road map that is shorter than 100 m. According to the invention, an algorithm is used in the step of changing, in the application of which every nth route point is removed from the list, the variable n representing a natural number. Such an embodiment of the present invention offers the advantage that in this way a number of route points can be removed from the list of route points in a simple manner, without causing a significant deterioration of a reconstruction possibility of the desired route.
In einer weiteren Ausführungsform der Erfindung kann das Verfahren ferner einen Schritt des Empfangens von weiteren Routenpunkten aufweisen, wobei die weiteren Routenpunkte Teilsegmente einer Alternative eines Abschnitts der Fahrtroute repräsentierten und wobei im Schritt des Veränderns zumindest einer der weiteren Routenpunkte in die Liste der Routenpunkte aufgenommen wird. Besonders vorteilhaft ist es, wenn im Schritt des Veränderns zusätzliche Routenpunkte in die Liste der Routenpunkte für die Fahrtroute aufgenommen werden, wobei die zusätzlichen Routenpunkte Teilsegmente einer Alternative eines Abschnitts der Fahrtroute repräsentierten. Eine derartige Ausführungsform der vorliegenden Erfindung bietet den Vorteil, dass auf einfache Weise verschiedene Fahrtroutenalternativen abgespeichert werden können, ohne für jede dieser Alternativen eine eigene separate Liste von Routenpunkten generieren zu müssen. Zusätzlich oder alternativ kann auch das Verfahren während der Fahrt eines Fahrzeugs wiederholt ausgeführt werden, wobei nach einem vorausgegangenen Ausführungszyklus des Verfahrens im Schritt des Einlesens in einem nachfolgenden Ausführungszyklus des Verfahrens zumindest ein neuer Routenpunkt während der Fahrt des Fahrzeugs eingelesen wird, der eine aktuelle Position des Fahrzeugs repräsentiert, wobei durch das wiederholte Ausführen des Verfahrens die Fahrtroute des Fahrzeugs aktualisiert wird. Eine derartige Ausführungsform der vorliegenden Erfindung bietet den Vorteil, dass nicht nur für eine vorgefertigte Fahrtroute eine Optimierung ausgeführt werden kann, sondern dass auch während der Fahrt eine Aufzeichnung der aktuell gefahrenen Fahrtroute möglich ist. Die Aufzeichnung der Fahrtroute kann dann in Speicherplatz-sparender Weise in einer Liste von Routenpunkten abgelegt werden, die in analoger Weise zur vorstehenden Beschreibung optimiert werden kann.In a further embodiment of the invention, the method may further comprise a step of receiving further route points, wherein the further route points represented subsegments of an alternative of a section of the route and wherein in the step of changing at least one of the further route points is included in the list of route points. It is particularly advantageous if, in the step of changing, additional route points are included in the list of route points for the travel route, the additional route points representing subsegments of an alternative of a section of the travel route. Such an embodiment of the present invention offers the advantage that different travel route alternatives can be stored in a simple manner without having to generate a separate list of route points for each of these alternatives. Additionally or alternatively, the method can also be carried out repeatedly during the travel of a vehicle, after a previous execution cycle of the method in the step of reading in a subsequent execution cycle of the method reading in at least one new route point during the drive of the vehicle, which is a current position of the vehicle Represents vehicle, wherein the route of the vehicle is updated by the repeated execution of the method. Such an embodiment of the present invention offers the advantage that optimization can not only be carried out for a prefabricated travel route, but also that a recording of the currently traveled route is possible while the vehicle is in motion. The recording of the route can then be stored in a space-saving manner in a list of route points, which can be optimized in an analogous manner to the above description.
Um auch eine Fahrtroute in bisher noch nicht befahrene Teilabschnitte einer digitalen Straßenkarte effizient abspeichern zu können, kann auch in einer anderen Ausführungsform der Erfindung das Verfahren ferner einen Schritt des Erfassens der aktuellen Position des Fahrzeugs aufweisen, wobei das Verfahren weiterhin einen Schritt des Abgleichens der erfassten aktuellen Position des Fahrzeugs mit einem durch einen Routenpunkt repräsentierten Teilabschnitt der Fahrtroute, wobei im Schritt des Veränderns der Liste ein Routenpunkt, der den aktuell befahrenen Teilabschnitt der Fahrtoute repräsentiert, der Liste hinzugefügt wird, wenn ein Routenpunkt, der den aktuell befahrenen Teilabschnitt der Fahrtroute repräsentiert, nicht in der Liste gespeichert ist.In order to be able to efficiently store a route in sections of a digital road map that have not yet been traveled, the method may also comprise a step of detecting the current position of the vehicle in another embodiment of the invention, the method further comprising a step of matching the detected position current position of the vehicle with a represented by a route point portion of the route, wherein in the step of changing the list, a route point that represents the currently traveled portion of the route is added to the list, if a route point representing the currently traveled portion of the route , not saved in the list.
Die Erfindung wird anhand der beigefügten Zeichnungen beispielhaft näher erläutert. Es zeigen:
- Fig. 1
- eine Darstellung einer digitalen Karte, in der eine Fahrtroute von einem Startort zu einem Zielort durch mehrere Routenpunkte markiert ist;
- Fig. 2-7
- Darstellungen der digitalen Karte, in der die Fahrtroute vom Startort zum Zielort durch mehrere Routenpunkte markiert sind, wobei ein weiteres Ausführungsbeispiel der vorliegenden Erfindung auf die Routenpunkte oder eine entsprechende Liste der Routenpunkte angewendet wurde;
- Fig. 8-13
- Darstellungen der digitalen Karte, in der die Fahrtroute vom Startort zum Zielort durch mehrere Routenpunkte markiert sind, wobei ein anderes Ausführungsbeispiel der vorliegenden Erfindung auf die Routenpunkte oder eine entsprechende Liste der Routenpunkte angewendet wurde;
- Fig. 14
- ein Ablaufdiagramm eines Ausführungsbeispiels der vorliegenden Erfindung als Verfahren;
- Fig. 15
- ein Ablaufdiagramm eines weiteren Ausführungsbeispiels der vorliegenden Erfindung als Verfahren; und
- Fig. 16
- ein Blockschaltbild eines Ausführungsbeispiels der Erfindung unter Verwendung eines Navigationsgerätes.
- Fig. 1
- a representation of a digital map in which a route from a starting place to a destination by several route points is marked;
- Fig. 2-7
- Representations of the digital map in which the route from the place of departure to the destination are marked by several route points, wherein a further embodiment of the present invention has been applied to the route points or a corresponding list of route points;
- Fig. 8-13
- Representations of the digital map in which the route from the starting place to the destination are marked by several route points, wherein another embodiment of the present invention has been applied to the route points or a corresponding list of route points;
- Fig. 14
- a flowchart of an embodiment of the present invention as a method;
- Fig. 15
- a flowchart of another embodiment of the present invention as a method; and
- Fig. 16
- a block diagram of an embodiment of the invention using a navigation device.
Gleiche oder ähnliche Elemente können in den Figuren durch gleiche oder ähnliche Bezugszeichen versehen sein, wobei auf eine wiederholte Beschreibung verzichtet wird. Ferner enthalten die Figuren der Zeichnungen, deren Beschreibung sowie die Ansprüche zahlreiche Merkmale in Kombination. Einem Fachmann ist dabei klar, dass diese Merkmale auch einzeln betrachtet werden oder sie zu weiteren, hier nicht explizit beschriebenen Kombinationen zusammengefasst werden können. Weiterhin ist die Erfindung in der nachfolgenden Beschreibung unter Verwendung von unterschiedlichen Maßen und Dimensionen erläutert, wobei die Erfindung nicht auf diese Maße und Dimensionen eingeschränkt zu verstehen ist. Ferner können erfindungsgemäße Verfahrensschritte wiederholt sowie in einer anderen als in der beschriebenen Reihenfolge ausgeführt werden. Umfasst ein Ausführungsbeispiel eine "und/oder" Verknüpfung zwischen einem ersten Merkmal/Schritt und einem zweites Merkmal/Schritt, so kann dies so gelesen werden, dass das Ausführungsbeispiel gemäß einer Ausführungsform sowohl das erste Merkmal / den ersten Schritt als auch das zweite Merkmal /den zweiten Schritt und gemäß einer weiteren Ausführungsform entweder nur das erste Merkmal /Schritt oder nur das zweite Merkmal /Schritt aufweist.The same or similar elements may be indicated in the figures by the same or similar reference numerals, wherein a repeated description is omitted. Furthermore, the figures of the drawings, whose description as well as the claims numerous characteristics in combination. It is clear to a person skilled in the art that these features are also considered individually or that they can be combined to form further combinations not explicitly described here. Furthermore, the invention is explained in the following description using different dimensions and dimensions, wherein the invention is not limited to these dimensions and dimensions to understand. Furthermore, method steps according to the invention can be repeated as well as carried out in a sequence other than that described. If an exemplary embodiment comprises a "and / or" link between a first feature / step and a second feature / step, this can be read such that the embodiment according to one embodiment includes both the first feature / the first feature and the second feature / the second step and according to another embodiment either only the first feature / step or only the second feature / step.
Ein wichtiges Ziel der Erfindung ist die Entwicklung einer Methode für die Referenzierung eines Teilgraphen (insbesondere für eine gewünschte Fahrtroute) des Straßengraphen, welcher durch die natürliche Routenwahl des Fahrers entsteht und daher in der Regel zusammenhängend ist. Dabei sollte insbesondere das Problem der Einteilung der Fahrtstrecke oder Fahrtroute in zu referenzierende Abschnitte gelöst werden, damit der Teilgraph nach und nach in annehmbarer Zeit dekodiert werden kann und die hier vorgestellte Methode somit applikationstauglich ist.An important object of the invention is the development of a method for referencing a subgraph (in particular for a desired route) of the road graph, which arises from the natural route selection of the driver and is therefore generally contiguous. In particular, the problem of dividing the route or route into sections to be referenced should be solved, so that the subgraph can be decoded gradually within a reasonable time and thus the method presented here is suitable for application.
Der nachfolgend vorgeschlagene Ansatz befasst sich somit mit der Referenzierung eines Teilgraphen des Straßengraphen, der beispielsweise nach und nach aus den gefahrenen Strecken des Fahrers entsteht. Die Einteilung in zu referenzierenden Abschnitte erfolgt beispielsweise parallel zur abgefahrenen Strecke. Ein wichtiger Aspekt des hier vorgeschlagenen Ansatzes ist die Bestimmung von festen Positionen im Straßennetz, sogenannten Routing-Punkten oder Routenpunkten, für die eine Vorgänger-Nachfolger Beziehung gepflegt wird. Diese Routenpunkte können dann in einer Liste abgespeichert werden, so dass die Vorgänger-Nachfolger-Beziehung in der Liste mitgespeichert wird. Aufeinanderfolgende Routing-Punkte begrenzen die zu referenzierenden Abschnitte. Die Wahl der Positionen und Abstände zwischen zwei aufeinanderfolgenden Routing-Punkten unterliegt bestimmten Bedingungen, die eine Identifizierung in der zweiten Karte möglich machen (sollen). Bei dieser Identifizierung wird dann mit einem Paar von Routing-Punkten begonnen, und der gesamte Teilgraph dann nach und nach mit einem entsprechenden Algorithmus wie etwa der Breitensuche dekodiert.The approach proposed below thus deals with the referencing of a subgraph of the road graph, which, for example, gradually arises from the driver's driving routes. The division into sections to be referenced, for example, takes place parallel to the traveled route. An important aspect of the approach proposed here is the determination of fixed positions in the road network, so-called routing points or route points, for which a predecessor-successor relationship is maintained. These route points can then be stored in a list, so that the predecessor-successor relationship is stored in the list. Successive routing points limit the sections to be referenced. The choice of positions and distances between two consecutive routing points is subject to certain conditions that allow for identification in the second card. In this identification is then with a Pair of routing points started, and the entire subgraph was then decoded gradually with an appropriate algorithm such as the breadth first search.
Im Folgenden wird die Kodierung und die Dekodierung der Referenzierungsmethode detailliert beschrieben. Die Wahl der Routing-Punkte und deren Abstände für aufeinanderfolgende unterliegt bestimmten Bedingungen, die die Identifizierung in der zweiten Karte möglich machen sollen. Beispielsweise können hier die sogenannten "Routing Point Rules" aus dem Standard AGORA-C verwendet werden.The coding and decoding of the referencing method are described in detail below. The choice of routing points and their intervals for successive ones are subject to certain conditions that are to make the identification in the second card possible. For example, the so-called "routing point rules" from the AGORA-C standard can be used here.
Zunächst wird die Codierung der Fahrtroute in Routenpunkte anhand unterschiedlicher Ausführungsbeispiele der Erfindung näher beschrieben. Ein wichtiger Aspekt der Erfindung in Bezug auf die Codierung ist die Auswahl und Positionierung der Routing-Punkte. Mit welchen Attributen bzw. Methoden diese Routing-Punkte dann beschrieben werden ist der zweite Schritt. Nachfolgend werden zwei verschiedene Ansätze zur Auswahl von Routing Points entlang der gefahrenen Strecke präsentiert.First, the coding of the route in route points using different embodiments of the invention will be described in more detail. An important aspect of the invention with respect to coding is the selection and positioning of the routing points. With which attributes or methods these routing points are then described is the second step. Below, two different approaches for selecting routing points along the route are presented.
Die Beschreibung der ersten Version startet mit
Im zweiten Schritt werden weitere Routing-Punkte 102 eliminiert wie es aus der
Zu jedem Link sollte außerdem gespeichert werden, ob er schon befahren wurde oder nicht. Wenn der Fahrer eine Route wählt, die teilweise bekannt ist und teilweise nicht, brauchen beispielsweise Routing-Punkte 108 nur auf den "neuen" Links (d.h. Teilabschnitte der Fahrtroute) gesetzt werden. Dies geschieht entsprechend der Darstellung aus
Bei der zweiten möglichen Variante des hier vorgeschlagenen Ansatzes werden die Routing-Punkte zeitnah dem eigentlichen Befahren der Links 102 festgelegt. Daher kann diese Variante auch als "as-you-go"-Wahl bezeichnet werden. Startet der Fahrer beispielsweise wieder bei Position A wie es in der
Wenn nun eine Liste von Routenpunkten erhalten wird, die eine gewünschte Fahrtroute repräsentiert und die beispielsweise entsprechend der vorstehenden Vorgehensweise erstellt wurde, dann kann diese Fahrtroute auch auf eine zweite digitale Straßenkarte übertragen (d.h. decodiert) werden, ohne dass hierzu ein größerer Aufwand erforderlich ist. Die Dekodierung setzt auf die Identifizierung der Routing-Punkte, damit dann die zu referenzierten Teilstücke zwischen zwei Routing-Punkten nach und nach identifiziert werden können. Es wird zunächst bei einem Vorgänger-Nachfolger Paar der Routenpunkte aus der Liste der Routenpunkte begonnen, beispielsweise in der Nähe der aktuellen Position, die für ein Fahrzeug aus geographischen Koordinaten ermittelt wurde. Für Vorgänger und Nachfolger existieren, je nach Attributen oder Methoden, die diese beschreiben, mehrere mögliche Positionen in der zweiten Karte, wie es in der
Andernfalls fährt man mit einem Nachfolger des Nachfolgers, oder mit einem anderen Vorgänger zu dem gewählten Nachfolger fort, bis ein Paar eindeutig identifiziert werden konnte. Dieses Startpaar erleichtert dann die Identifizierung der anderen zusammenhängenden Routing-Punkte. Im Beispiel aus der
Um den Aufwand für das ausschließen von Alternativen zu reduzieren, könnten Methoden wie MEI-LIN benutzt werden, um die Routing-Punkte zu referenzieren und Alternativen frühzeitig auszuschließen. Ist also ein Startpaar identifiziert, so werden die anderen Punkte nach einem bestimmten Algorithmus wie etwa der Breitensuche nach und nach abgearbeitet, um den gesamten Teilgraph in annehmbarer Zeit dekodieren zu können. Der Routing-Algorithmus sollte zudem Gewichte relativ zur Straßenklasse berücksichtigen, damit wichtigere Straßen vorgezogen werden.To reduce the overhead of excluding alternatives, methods such as MEI-LIN could be used to reference the routing points and eliminate alternatives early. Thus, if a start pair is identified, the other points are progressively processed according to a certain algorithm, such as breadth first search, in order to be able to decode the entire subgraph in a reasonable time. The routing algorithm should also consider weights relative to the road class, so that more important roads are preferred.
Gemäß der Darstellung aus
Gemäß der Darstellung aus
Die vorliegende Erfindung kann weiterhin in einem Navigationsgerät 410 eines Fahrzeugs 400 ausgeführt werden, wie es beispielsweise in
Claims (9)
- Method (200) for simplifying a description of a route (100) represented by a list of route points (1-9, 104), the method (200) having the following steps of:- reading in (210) a route (100) mapped by a list of route points (104) which is represented by a plurality of route points (104), each route point (104) representing a different partial segment (102) of a route (100) from a digital road map;- changing (220) the list of route points (104) in accordance with a predetermined algorithm in order to obtain a changed list of route points (1-9) which represents the route (100), an algorithm being used in the changing step (220), the use of which results in every nth route point (104) being removed from the list, the variable n being a natural number; and- storing (230) the changed list of route points (1-9) in order to simplify the description of the route (100).
- Method (200) according to Claim 1, characterized in that route points (104) representing geographical coordinates are read in in the step of reading in (210) the route (100).
- Method (200) according to one of the preceding steps, characterized in that an algorithm is used in the changing step (220), the use of which results in those route points (104) which represent a partial segment (102) of the route (100) which maps a route section shorter than a predetermined route length being removed from the list.
- Method (200) according to one of the preceding claims, characterized in that the method (200) also has a step of receiving further route points (108), the further route points (108) representing partial segments (104) of an alternative of a section of the route (100), and at least one of the further route points (108) being included in the list of route points (1-9) in the changing step (220).
- Method (200) according to one of the preceding claims, characterized in that additional route points (108) are included in the list of route points (1-9) for the route (100) in the changing step (220), the additional route points (108) representing partial segments (102) of an alternative of a section of the route (100).
- Method (200) according to one of the preceding claims, characterized in that the method (200) is executed repeatedly during the journey of a vehicle (400), at least one new route point (110) which represents a current position of the vehicle (400) being read in during the journey of the vehicle (400) in the reading-in step (210) after a preceding execution cycle of the method (200) in a subsequent execution cycle of the method (200), the route of the vehicle (400) being updated by the repeated execution of the method (200).
- Method (200) according to one of the preceding claims, characterized in that the method (200) also has a step of detecting the current position of the vehicle (400), the method (200) also a step of comparing the detected current position of the vehicle (400) with a partial section (102) of the route (100) represented by a route point (110), a route point (110) representing the currently travelled partial section (102) of the route (100) being added to the list in the step of changing (220) the list if a route point (110) which represents the currently travelled partial section of the route (100) is not stored in the list.
- Navigation device (410) which is designed to carry out the steps of a method (200, 300) according to one of Claims 1 to 7.
- Computer program product having program code which is stored on a machine-readable carrier for carrying out the method (200, 300) according to one of Claims 1 to 7 when the program is executed on a navigation device (410).
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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DE102009047407A DE102009047407A1 (en) | 2009-12-02 | 2009-12-02 | Method and navigation device for simplifying a description of a route |
PCT/EP2010/068268 WO2011067169A1 (en) | 2009-12-02 | 2010-11-26 | Method for simplifying a description of a route |
Publications (2)
Publication Number | Publication Date |
---|---|
EP2507589A1 EP2507589A1 (en) | 2012-10-10 |
EP2507589B1 true EP2507589B1 (en) | 2017-07-05 |
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EP10792869.9A Active EP2507589B1 (en) | 2009-12-02 | 2010-11-26 | Method for simplifying a description of a route |
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EP (1) | EP2507589B1 (en) |
JP (1) | JP5675838B2 (en) |
CN (1) | CN102648396B (en) |
DE (1) | DE102009047407A1 (en) |
WO (1) | WO2011067169A1 (en) |
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US7321824B1 (en) * | 2002-12-30 | 2008-01-22 | Aol Llc | Presenting a travel route using more than one presentation style |
US7818116B1 (en) * | 2002-12-30 | 2010-10-19 | Mapquest, Inc. | Presenting a travel route in a ground-based vehicle |
DE102013222960A1 (en) * | 2013-11-12 | 2015-05-13 | Continental Automotive Gmbh | Navigation system and method for its operation |
GB201404040D0 (en) * | 2014-03-07 | 2014-04-23 | Tomtom Int Bv | Reconstructing routes using electronic map data |
CN104061927B (en) * | 2014-07-02 | 2017-07-21 | 百度在线网络技术(北京)有限公司 | Method and apparatus for walking navigation |
JP6692324B2 (en) * | 2017-06-19 | 2020-05-13 | 三菱重工業株式会社 | Control device, control system, moving body, control method and program |
US11403938B2 (en) * | 2019-04-04 | 2022-08-02 | Geotab Inc. | Method for determining traffic metrics of a road network |
CN112085959B (en) * | 2019-06-13 | 2022-04-12 | 百度在线网络技术(北京)有限公司 | Unmanned vehicle driving control method and device |
JP7347999B2 (en) * | 2019-08-29 | 2023-09-20 | 株式会社Subaru | Information processing device, information processing method, program |
DE102020102752A1 (en) * | 2020-02-04 | 2021-08-05 | Bayerische Motoren Werke Aktiengesellschaft | Evaluation of a route determination |
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US5848373A (en) * | 1994-06-24 | 1998-12-08 | Delorme Publishing Company | Computer aided map location system |
US6321158B1 (en) * | 1994-06-24 | 2001-11-20 | Delorme Publishing Company | Integrated routing/mapping information |
US7202776B2 (en) * | 1997-10-22 | 2007-04-10 | Intelligent Technologies International, Inc. | Method and system for detecting objects external to a vehicle |
US6317058B1 (en) * | 1999-09-15 | 2001-11-13 | Jerome H. Lemelson | Intelligent traffic control and warning system and method |
AT411500B (en) * | 2001-06-12 | 2004-01-26 | Siemens Ag Oesterreich | DUAL TOLL SYSTEM |
CN1653505A (en) * | 2002-03-29 | 2005-08-10 | 松下电器产业株式会社 | Map matching method, map matching device, database for shape matching, and shape matching device |
JP4209179B2 (en) * | 2002-11-27 | 2009-01-14 | 株式会社ザナヴィ・インフォマティクス | Map information providing apparatus and map information providing program |
JP4318537B2 (en) * | 2003-11-19 | 2009-08-26 | パナソニック株式会社 | Map matching method and apparatus for implementing the same |
JP2004354395A (en) * | 2004-09-09 | 2004-12-16 | Matsushita Electric Ind Co Ltd | Map-matching method and apparatus |
CN1920485A (en) * | 2005-08-26 | 2007-02-28 | 厦门雅迅网络股份有限公司 | Vehicle navigation method capable of automatically correcting navigation track |
JP4366664B2 (en) * | 2007-06-29 | 2009-11-18 | アイシン・エィ・ダブリュ株式会社 | Own vehicle position recognition device and own vehicle position recognition program |
US8170793B2 (en) * | 2007-06-29 | 2012-05-01 | Tele Atlas North America, Inc. | System and method for determining routing point placement for aiding in encoding and decoding a path |
US8269652B2 (en) * | 2009-04-02 | 2012-09-18 | GM Global Technology Operations LLC | Vehicle-to-vehicle communicator on full-windshield head-up display |
US8395529B2 (en) * | 2009-04-02 | 2013-03-12 | GM Global Technology Operations LLC | Traffic infrastructure indicator on head-up display |
US8384531B2 (en) * | 2009-04-02 | 2013-02-26 | GM Global Technology Operations LLC | Recommended following distance on full-windshield head-up display |
US8384532B2 (en) * | 2009-04-02 | 2013-02-26 | GM Global Technology Operations LLC | Lane of travel on windshield head-up display |
US8350724B2 (en) * | 2009-04-02 | 2013-01-08 | GM Global Technology Operations LLC | Rear parking assist on full rear-window head-up display |
US8358224B2 (en) * | 2009-04-02 | 2013-01-22 | GM Global Technology Operations LLC | Point of interest location marking on full windshield head-up display |
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DE102009047407A1 (en) | 2011-06-09 |
EP2507589A1 (en) | 2012-10-10 |
WO2011067169A1 (en) | 2011-06-09 |
US8532922B2 (en) | 2013-09-10 |
CN102648396A (en) | 2012-08-22 |
CN102648396B (en) | 2016-03-30 |
JP2013513096A (en) | 2013-04-18 |
JP5675838B2 (en) | 2015-02-25 |
US20120323486A1 (en) | 2012-12-20 |
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